Core-drilling kinematic modeling and analysis of Jiaolong submersible manipulator  

作　　者：Xu YANG Xin LIU Shizhen LI Yugang REN Limin ZHU 

机构地区：[1]Institute of Marine Science and Technology,Shandong University,Qingdao 266237,China [2]National Deep Sea Center,Qingdao 266237,China [3]State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》2023年第11期937-948,共12页浙江大学学报（英文版）A辑（应用物理与工程）

基　　金：the National Natural Science Foundation of China(No.52175018);the Key R&D Program of Shandong Province(Major Scientific and Technological Innovation Project)(No.2019JZZY010802),China.

摘　　要：The complicated topographies of the deep sea pose significant challenges for the core drilling with the Jiaolong submersible manipulator.To address this problem,we proposed a core-drilling kinematic model and evaluated the core-drilling behavior of the submersible manipulator by comprehensively considering the uncertain posture of the Jiaolong submersible.First,we established a forward kinematic model for the core-drilling task in deep sea,which satisfied the requirement of gravitational-direction core drilling.Based on the forward kinematic equations,we then built a double-redundancy inverse kinematic model,which was able to determine the required motion trajectories of six active joints according to the desired core-drilling trajectory.The core-drilling workspaces and the motions of the Jiaolong submersible manipulator were assessed with several calculation examples.The established forward and inverse kinematic models are constructed with clear analytic equations,and thus are directly applicable to the Jiaolong submersible manipulator-based core-drilling task.

关 键 词：Kinematic model Core drilling Jiaolong submersible manipulator Uncertain posture 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]